autowarefoundation · KYabuuchi · Apr 28, 2023 · May 6, 2023 · May 17, 2023 · May 18, 2023
@@ -3,4 +3,5 @@
     gnss_enabled: true
     ndt_enabled: true
     ekf_enabled: true
+    yabloc_enabled: false
     stop_check_enabled: false
@@ -3,4 +3,5 @@
     gnss_enabled: false
     ndt_enabled: false
     ekf_enabled: false
+    yabloc_enabled: false
     stop_check_enabled: false
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    # Declared in AbstParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    # Declared in ll2_cost_map
+    image_size: 800 # cost map image made by lanelet2
+    max_range: 40.0 # [m] a cost map scale size
+    gamma: 5.0 # cost map intensity gradient
+
+    min_prob: 0.1 # minimum weight of particles
+    far_weight_gain: 0.001 # exp(-far_weight_gain_ * squared_norm) is multiplied earch measurement
+    enabled_at_first: true # developing feature
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    angle_resolution: 30
@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # Declared in AbstParticleCorrector
+    acceptable_max_delay: 1.0
+    visualize: false
+
+    mahalanobis_distance_threshold: 30.0 # If the distance to GNSS observation exceeds this, the correction is skipped.
+    use_ublox_msg: true # Raw sensor data should not be used when running as Autoware.
+    ignore_less_than_float: false
+    #
+    for_fixed/max_weight: 5.0
+    for_fixed/flat_radius: 0.5
+    for_fixed/max_radius: 10.0
+    for_fixed/min_weight: 0.5
+    #
+    for_not_fixed/flat_radius: 5.0
+    for_not_fixed/max_radius: 20.0
+    for_not_fixed/min_weight: 0.5
+    for_not_fixed/max_weight: 1.0
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+      # graph_node selects a road surface area from around this height
+      target_height_ratio: 0.85
+
+      #
+      target_candidate_box_width: 15
+
+      # graph_segment_node will pickup additional roadlike areas
+      pickup_additional_graph_segment: true
+
+      # used when the pickup_additional_graph_segment: true
+      similarity_score_threshold: 0.8
+
+      # parameters for cv::ximgproc::segmentation
+      sigma: 0.5
+      k: 300.0
+      min_size: 100.0
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    force_zero_tilt: false
+    K: 50
+    R: 10
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    road_marking_labels: [cross_walk, zebra_marking, line_thin, line_thick, pedestrian_marking, stop_line, road_border]
+    sign_board_labels: [sign-board]
+    bounding_box_labels: [none]
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    cov_xx_yy: [2.0,0.25]
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    gnss_enabled: true
+    ndt_enabled: false
+    ekf_enabled: true
+    yabloc_enabled: true
+    stop_check_enabled: false
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    visualize: true
+
+    static_linear_covariance: 0.04
+    static_angular_covariance: 0.006
+
+    resampling_interval_seconds: 1.0
+    num_of_particles: 500
+    prediction_rate: 50.0
+
+    is_swap_mode: false # developing feature
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    min_segment_length:  1.5    # if it is negative, it is unlimited
+    max_segment_distance:  30.0 # if it is negative, it is unlimited
+    max_lateral_distance: 10.0  # if it is negative, it is unlimited
+    publish_image_with_segment_for_debug: true
+    max_range: 20.0
+    image_size: 800 # debug
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    use_sensor_qos: true
+    width: 800
+    override_frame_id: "" # Value for overriding the camera's frame_id. If blank, frame_id of static_tf is not overwritten
@@ -83,8 +83,9 @@
 
   <!-- Localization -->
   <group if="$(var launch_localization)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/>
+    <!-- <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_localization_component.launch.xml"/> -->
     <!-- <include file="$(find-pkg-share autoware_launch)/launch/components/map4_localization_component.launch.xml"/> -->
+    <include file="$(find-pkg-share autoware_launch)/launch/components/yabloc_localization_component.launch.xml"/>
   </group>
 
   <!-- Perception -->

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<launch>
+  <let name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)"/>
+  <let
+    name="pose_initializer_param_path"
+    value="$(find-pkg-share autoware_launch)/config/localization/yabloc/pose_initializer.logging_simulator.yabloc.param.yaml"
+    if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)"
+  />
+
+  <let name="yaml_path" value="$(find-pkg-share autoware_launch)/config/localization/yabloc"/>
+
+  <include file="$(find-pkg-share yabloc_localization_launch)/launch/localization.launch.xml">
+    <!-- yabloc initializer -->
+    <arg name="camera_pose_initializer_param_path" value="$(var yaml_path)/camera_pose_initializer.param.yaml"/>
+    <arg name="particle_initializer_param_path" value="$(var yaml_path)/particle_initializer.param.yaml"/>
+    <!-- yabloc particle filter-->
+    <arg name="camera_particle_corrector_param_path" value="$(var yaml_path)/camera_particle_corrector.param.yaml"/>
+    <arg name="gnss_particle_corrector_param_path" value="$(var yaml_path)/gnss_particle_corrector.param.yaml"/>
+    <arg name="predictor_param_path" value="$(var yaml_path)/predictor.param.yaml"/>
+    <!-- yabloc image processing -->
+    <arg name="graph_segment_param_path" value="$(var yaml_path)/graph_segment.param.yaml"/>
+    <arg name="segment_filter_param_path" value="$(var yaml_path)/segment_filter.param.yaml"/>
+    <arg name="undistort_param_path" value="$(var yaml_path)/undistort.param.yaml"/>
+    <!-- yabloc map -->
+    <arg name="ground_server_param_path" value="$(var yaml_path)/ground_server.param.yaml"/>
+    <arg name="ll2_decomposer_param_path" value="$(var yaml_path)/ll2_decomposer.param.yaml"/>
+
+    <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
+    <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
+    <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
+  </include>
+</launch>